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Aerial Robotic Manipulation pp 53–65Cite as

Platforms with Multi-directional Total Thrust

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 129))

Abstract

The chapter provides an overview of the basic modeling and the intrinsic properties of aerial platforms with multi-directional total thrust ability. When also fully-actuated, such platforms can modify the total wrench in body frame in any direction, thus allowing the control of position and orientation independently. Therefore, they are best suited for dexterous tasks, physical interaction, and for carrying aerial manipulators, because they do not suffer from the underactuation of standard collinear multirotors. The chapter includes a rigorous classification, a discussion on the possible input coupling, and on the capabilities and pitfalls of inverse-dynamics control approach for such platforms.

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Notes

  1. 1.

    In the following we omit the subscripts and superscripts when there is no risk of confusion.

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Acknowledgements

The author would like to thank Markus Ryll, Giulia Michieletto, Marco Tognon, and Davide Bicego for their direct and indirect help in the efforts to the setting up of this chapter.

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Authors and Affiliations

  1. LAAS-CNRS, Université de Toulouse, CNRS, Toulouse, France

    Antonio Franchi

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  1. Antonio Franchi
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Correspondence to Antonio Franchi .

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Editors and Affiliations

  1. GRVC Robotics Lab Seville, Universidad de Sevilla, Seville, Spain

    Anibal Ollero

  2. Dipartimento di Ingegneria Elettrica e delle Tecnologie dell’Informazione, Università di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

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Franchi, A. (2019). Platforms with Multi-directional Total Thrust. In: Ollero, A., Siciliano, B. (eds) Aerial Robotic Manipulation. Springer Tracts in Advanced Robotics, vol 129. Springer, Cham. https://doi.org/10.1007/978-3-030-12945-3_4

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